阅读说明：本技术 一种雷达与通信一体化系统的协同工作方法及系统 (Cooperative working method and system of radar and communication integrated system ) 是由 冯志勇 黄赛 严正行 张轶凡 尉志青 于 2019-09-30 设计创作，主要内容包括：本发明实施例提供了一种雷达与通信一体化系统的协同工作方法及系统,协同该工作系统包括设置有雷达与通信一体化系统的收发端设备和设置有第二通信模块的接收端设备；雷达与通信一体化系统包括：雷达模块和第一通信模块；该方法包括：第一通信模块分别将OFDM信号发送至接收端设备和雷达模块；第二通信模块在接收到第一通信模块发送的OFDM信号后,获取OFDM信号中携带的通信信息,其中,接收端设备至少为一个；雷达模块接收第一通信模块发送的OFDM信号经反射后的至少一个反射信号；并基于至少一个反射信号和OFDM信号,确定收发端设备与周围环境的相对位姿关系,周围环境至少包括接收端设备。从而可以提高收发端设备的性能。(The embodiment of the invention provides a cooperative working method and a cooperative working system of a radar and communication integrated system, wherein the cooperative working system comprises a receiving and transmitting terminal device provided with the radar and communication integrated system and a receiving terminal device provided with a second communication module; the radar and communication integrated system comprises: a radar module and a first communication module; the method comprises the following steps: the first communication module respectively sends the OFDM signals to receiving end equipment and a radar module; after receiving the OFDM signals sent by the first communication module, the second communication module acquires communication information carried in the OFDM signals, wherein at least one receiving end device is provided; the radar module receives at least one reflected signal after the OFDM signal sent by the first communication module is reflected; and determining the relative pose relationship between the transceiving end equipment and the surrounding environment based on at least one reflected signal and the OFDM signal, wherein the surrounding environment at least comprises receiving end equipment. Thereby improving the performance of the transceiver terminal equipment.)

1. A cooperative work method of a radar and communication integrated system is characterized in that the cooperative work method is applied to a cooperative work system, and the cooperative work system comprises a receiving and transmitting end device and a receiving end device; the receiving and dispatching end equipment is provided with a radar and communication integrated system, and the radar and communication integrated system comprises: the receiving end equipment is at least provided with a second communication module;

the method comprises the following steps:

the first communication module respectively sends Orthogonal Frequency Division Multiplexing (OFDM) signals to the receiving end equipment and the radar module;

the second communication module acquires communication information carried in the OFDM signal after receiving the OFDM signal sent by the first communication module, wherein at least one receiving end device is provided;

the radar module receives at least one reflected signal obtained by reflecting the OFDM signal sent by the first communication module; and determining a relative pose relationship between the transceiving end device and a surrounding environment based on the at least one reflected signal and the OFDM signal, the surrounding environment at least including the receiving end device.

2. The method according to claim 1, wherein the radar module receives at least one reflected signal of the OFDM signal transmitted by the first communication module after reflection; and determining the relative pose relationship of the transceiving end device and the surrounding environment based on the at least one reflected signal and the OFDM signal, including:

the radar module receives at least one reflected signal obtained by reflecting the OFDM signal sent by the first communication module, and determines a reflected signal matrix based on the at least one reflected signal;

the radar module acquires the OFDM signal sent by the first communication module and determines an OFDM signal matrix based on the OFDM signal;

and determining the relative pose relationship between the transceiving end equipment and the surrounding environment according to the reflected signal matrix and the OFDM signal matrix.

3. The method according to claim 2, wherein said determining a relative pose relationship of the transceiving end device to the ambient environment from the reflected signal matrix and the OFDM signal matrix comprises:

according to the reflection signal matrix D_Rx(m, n) and the OFDM signal matrix D_Tx(m, n) by the formula:

H(m,n)＝D_Tx(m,n)^-1(D_Rx(m,n)-W(m,n))

calculating an environment matrix H (m, n) of the relative pose relationship between the transceiver terminal equipment and the surrounding environment; wherein m is the number of subcarriers in the OFDM signal, n is the number of symbols in the OFDM signal, and W (m, n) represents superimposed white gaussian noise;

by the following formula:

performing discrete Fourier transform and inverse discrete Fourier transform on the environment matrix H (m, n) to obtain a transformed environment matrix

for the transformed environment matrix

Based on the matrix after modulus takingAnd determining the relative pose relationship between the transceiving end equipment and the surrounding environment.

4. The method of claim 3, wherein the matrix based on the modulus is selected from the group consisting of a linear matrix, and a linear matrixDetermining a relative pose relationship of the transceiving end device and the surrounding environment, including:

obtaining the matrix after modulus extraction

calculating the distance value corresponding to the k peak value

the distance value corresponding to the k peak value

5. The method of claim 3, wherein the matrix based on the modulus is selected from the group consisting of a linear matrix, and a linear matrix

obtaining the matrix after modulus extractionAnd by the following equation:

calculating the speed value corresponding to the k-th peak value

the speed value corresponding to the k peak value

6. The method of claim 1, wherein the OFDM signal comprises: a cyclic prefix duration;

the radar module receives at least one reflected signal obtained by reflecting the OFDM signal sent by the first communication module; and determining the relative pose relationship of the transceiving end device and the surrounding environment based on the at least one reflected signal and the OFDM signal, including:

within the cyclic prefix duration, the radar module receives at least one reflected signal after the OFDM signal sent by the first communication module is reflected; and determining the relative pose relationship between the transceiving end equipment and the surrounding environment based on the at least one reflected signal and the OFDM signal.

7. The method according to claim 1, wherein the first communication module respectively transmits the OFDM signals to the receiving-end device and the radar module, and comprises:

the first communication module transmits the OFDM signal to the receiving end equipment and the radar module by adopting a pre-allocated frequency band;

or, the first communication module transmits the OFDM signal to the receiving end device and the radar module by using a pre-allocated time slot;

or, the first communication module transmits the OFDM signal to the receiving end device and the radar module by using a pre-allocated time slot and frequency band;

after receiving the OFDM signal sent by the first communication module, the second communication module acquires communication information carried in the OFDM signal, including:

the second communication module receives the OFDM signal by adopting a frequency band which is the same as the frequency band pre-allocated to the first communication module, and acquires communication information carried in the OFDM signal;

or, the second communication module receives the OFDM signal and acquires communication information carried in the OFDM signal by using a time slot that is the same as a time slot pre-allocated to the first communication module;

or, the second communication module receives the OFDM signal and acquires communication information carried in the OFDM signal by using a time slot and a frequency band which are the same as a time slot and a frequency band pre-allocated to the first communication module.

8. The method according to claim 7, wherein the radar module acquires the OFDM signal transmitted by the first communication module using the same time slot and/or frequency band as the first communication module.

9. The method according to claim 1, wherein the first communication module receives the OFDM signal transmitted by the second communication module of the receiving device in a different time slot and/or frequency band from the radar module.

10. A cooperative work system of a radar and communication integrated system is characterized in that the cooperative work system comprises a transceiving end device and a receiving end device; the receiving and dispatching end equipment is provided with a radar and communication integrated system, and the radar and communication integrated system comprises: the receiving end equipment is at least provided with a second communication module;

the first communication module is used for respectively sending the OFDM signals to the receiving end equipment and the radar module;

the second communication module is configured to obtain communication information carried in the OFDM signal after receiving the OFDM signal sent by the first communication module, where at least one receiving end device is provided;

the radar module is used for receiving at least one reflected signal obtained by reflecting the OFDM signal sent by the first communication module; and determining a relative pose relationship between the transceiving end device and a surrounding environment based on the at least one reflected signal and the OFDM signal, the surrounding environment at least including the receiving end device.

Technical Field

The invention relates to the technical field of wireless communication, in particular to a cooperative working method and a cooperative working system of a radar and communication integrated system.

Background

With the wide application of unmanned aerial vehicles, autonomous vehicles and the like, the demands on wireless communication equipment and radar equipment are increasing, however, when the communication equipment and the radar equipment are simultaneously equipped on the same unmanned aerial vehicle or autonomous vehicle, electromagnetic interference between the communication equipment and the radar equipment can be caused, and the performances of the communication equipment and the radar equipment become low.

In order to improve the performance of communication equipment and radar equipment at the same time, a radar and communication integrated system is proposed in the prior art, the system can share frequency spectrum resources, mutual interference is reduced, better mutual information gain is obtained, and the reliability of the system is improved. At present, the radar and communication integrated system is mainly divided into an integrated system based on non-waveform fusion and an integrated system based on waveform fusion.

In the integrated system based on waveform fusion, the integrated system based on OFDM (Orthogonal frequency division Multiplexing) signals is the mainstream choice because of the advantages of high utilization efficiency of frequency spectrum resources, fading resistance, multipath propagation effect and the like.

However, in the process of implementing the present invention, the inventor finds that, in the current radar communication integration system based on OFDM signals, different phase coding methods are usually adopted for communication transmission and radar detection to implement radar communication integration, and the communication module and the radar module in the transceiver device respectively adopt different phase coding methods for communication transmission and radar detection, so that the communication transmission and radar detection are limited in time-frequency resources, thereby reducing the performance of the transceiver device.

Disclosure of Invention

The embodiment of the invention aims to provide a cooperative working method and a cooperative working system of a radar and communication integrated system, so as to improve the performance of a receiving and transmitting terminal device. The specific technical scheme is as follows:

in a first aspect, a cooperative work method of a radar and communication integrated system is characterized in that the cooperative work method is applied to a cooperative work system, and the cooperative work system comprises a transceiving end device and a receiving end device; be provided with radar and communication integration system on the equipment of receiving and dispatching end, radar and communication integration system include: the receiving end equipment is at least provided with a second communication module;

the method comprises the following steps:

the first communication module respectively sends the OFDM signals to receiving end equipment and a radar module;

after receiving the OFDM signals sent by the first communication module, the second communication module acquires communication information carried in the OFDM signals, wherein at least one receiving end device is provided;

the radar module receives at least one reflected signal after the OFDM signal sent by the first communication module is reflected; and determining the relative pose relationship between the transceiving end equipment and the surrounding environment based on at least one reflected signal and the OFDM signal, wherein the surrounding environment at least comprises receiving end equipment.

Optionally, the radar module receives at least one reflected signal obtained by reflecting the OFDM signal sent by the first communication module; and determining the relative pose relationship between the transceiver terminal equipment and the surrounding environment based on the at least one reflected signal and the OFDM signal, wherein the relative pose relationship comprises the following steps:

the radar module receives at least one reflected signal obtained by reflecting the OFDM signal sent by the first communication module, and determines a reflected signal matrix based on the at least one reflected signal;

the radar module acquires an OFDM signal sent by the first communication module and determines an OFDM signal matrix based on the OFDM signal;

and determining the relative pose relationship between the transceiving end equipment and the surrounding environment according to the reflection signal matrix and the OFDM signal matrix.

Optionally, determining a relative pose relationship between the transceiver device and the surrounding environment according to the reflection signal matrix and the OFDM signal matrix, including:

from the matrix D of reflected signals_Rx(m, n) and OFDM signal matrix D_Tx(m, n) by the formula:

H(m,n)＝D_Tx(m,n)^-1(D_Rx(m,n)-W(m,n))

calculating an environment matrix H (m, n) of the relative pose relationship between the transceiving end equipment and the surrounding environment; wherein m is the number of subcarriers in the OFDM signal, n is the number of symbols in the OFDM signal, and W (m, n) represents superimposed white gaussian noise;

by the following formula:

performing discrete Fourier transform and inverse discrete Fourier transform on the environment matrix H (m, n) to obtain a transformed environment matrix

Wherein, in the environment matrix

The element value of the p-th row and q-th column element is

0≤p≤N_c-1，-N_sym/2+1≤q≤N_sym/2，N_cIs the number of sub-carriers, N, of an OFDM signal_symThe number of the symbols in the OFDM signal transmitted in the preset time is the number of the symbols in the OFDM signal transmitted in the preset time;

for transformed environment matrix

Each element in the matrix is subjected to modulus extraction to obtain a matrix after modulus extraction

Based onMatrix after taking mould

And determining the relative pose relationship between the receiving and transmitting end equipment and the surrounding environment.

Optionally, based on the matrix after modulus extraction

Determining the relative pose relationship between the transceiving end device and the surrounding environment, including:

obtaining a matrix after modulus extraction

And by the following equation:

calculating the distance value corresponding to the k peak value

Wherein p is more than or equal to 0 and N is more than or equal to k_c-1，0<k<N_c-1，c₀Δ f is the interval between subcarriers in the OFDM signal, which is the propagation speed of light in air; matrix after taking mould

The element value of the element adjacent to the peak value is smaller than the peak value;

the distance value corresponding to the k peak value

As a relative distance value between the transceiving end device and the kth object in the surrounding environment, wherein the object includes the receiving end device.

Optionally, based on the matrix after modulus extraction

Determining the relative pose relationship between the transceiving end device and the surrounding environment, including:

obtaining a matrix after modulus extractionAnd by the following equation:

calculating the speed value corresponding to the k-th peak value

wherein-N_sym/2+1≤q(k)≤N_sym/2，0<k<N_sym，c₀The propagation velocity of light in air, f_cIs the carrier frequency in the OFDM signal; t is_OFDMFor a period of one symbol in the OFDM signal, taking the matrix after modulus

The element value of the element adjacent to the peak value is smaller than the peak value;

the speed value corresponding to the k-th peak valueAs the relative velocity value of the transceiving end device and the kth object in the surrounding environment, wherein the object comprises the receiving end device.

Optionally, the OFDM signal includes: a cyclic prefix duration;

the radar module receives at least one reflected signal after the OFDM signal sent by the first communication module is reflected; and determining the relative pose relationship between the transceiver terminal equipment and the surrounding environment based on the at least one reflected signal and the OFDM signal, wherein the relative pose relationship comprises the following steps:

within the duration of the cyclic prefix, the radar module receives at least one reflected signal after the OFDM signal sent by the first communication module is reflected; and determining the relative pose relationship between the transceiving end equipment and the surrounding environment based on the at least one reflected signal and the OFDM signal.

Optionally, the first communication module sends the OFDM signal to the receiving end device and the radar module, respectively, including:

the first communication module transmits the OFDM signals to receiving end equipment and a radar module by adopting a pre-allocated frequency band;

or, the first communication module transmits the OFDM signal to the receiving end equipment and the radar module by adopting a pre-allocated time slot;

or, the first communication module transmits the OFDM signal to the receiving end equipment and the radar module by adopting a pre-allocated time slot and frequency band;

after receiving the OFDM signal sent by the first communication module, the second communication module acquires communication information carried in the OFDM signal, including:

the second communication module receives the OFDM signal by adopting a frequency band which is the same as the frequency band pre-allocated to the first communication module, and acquires communication information carried in the OFDM signal;

or, the second communication module receives the OFDM signal by using the same time slot as the time slot pre-allocated to the first communication module, and acquires communication information carried in the OFDM signal;

or, the second communication module receives the OFDM signal and acquires the communication information carried in the OFDM signal by using the same time slot and frequency band as the time slot and frequency band pre-allocated to the first communication module.

Optionally, the radar module acquires the OFDM signal sent by the first communication module by using the same time slot and/or frequency band as the first communication module.

Optionally, the first communication module receives the OFDM signal sent by the second communication module of the receiving end device by using a time slot and/or a frequency band different from that of the radar module.

In a second aspect, an embodiment of the present invention further provides a cooperative work system of a radar and communication integrated system, where the cooperative work system includes a transceiver device and a receiver device; be provided with radar and communication integration system on the equipment of receiving and dispatching end, radar and communication integration system include: the receiving end equipment is at least provided with a second communication module;

the first communication module is used for respectively transmitting the OFDM signals to the receiving end equipment and the radar module;

the second communication module is used for acquiring communication information carried in the OFDM signals after receiving the OFDM signals sent by the first communication module, wherein at least one receiving end device is provided;

the radar module is used for receiving at least one reflected signal after the OFDM signal sent by the first communication module is reflected; and determining the relative pose relationship between the transceiving end equipment and the surrounding environment based on at least one reflected signal and the OFDM signal, wherein the surrounding environment at least comprises receiving end equipment.

Optionally, the radar module is specifically configured to receive at least one reflected signal obtained by reflecting the OFDM signal sent by the first communication module, and determine a reflected signal matrix based on the at least one reflected signal;

the radar module is further used for acquiring the OFDM signals sent by the first communication module and determining an OFDM signal matrix based on the OFDM signals;

and the radar module is also used for determining the relative pose relationship between the transceiving end equipment and the surrounding environment according to the reflected signal matrix and the OFDM signal matrix.

Optionally, the radar module includes:

an environment matrix calculation submodule for calculating a matrix D based on the reflected signals_Rx(m, n) and OFDM signal matrix D_Tx(m, n) by the formula:

H(m,n)＝D_Tx(m,n)^-1(D_Rx(m,n)-W(m,n))

calculating an environment matrix H (m, n) of the relative pose relationship between the transceiving end equipment and the surrounding environment; wherein m is the number of subcarriers in the OFDM signal, n is the number of symbols in the OFDM signal, and W (m, n) represents superimposed white gaussian noise;

a matrix transformation submodule for transforming the data by the following equation:

discretizing the environment matrix H (m, n)Leaf transformation and inverse discrete Fourier transformation to obtain transformed environment matrix

Wherein, in the environment matrixThe element value of the p-th row and q-th column element is

0≤p≤N_c-1，-N_sym/2+1≤q≤N_sym/2，N_cIs the number of sub-carriers, N, of an OFDM signal_symThe number of the symbols in the OFDM signal transmitted in the preset time is the number of the symbols in the OFDM signal transmitted in the preset time;

a modulus-taking submodule for taking the transformed environment matrixEach element in the matrix is subjected to modulus extraction to obtain a matrix after modulus extraction

An ambient determination submodule for determining a matrix based on the modulo matrix

And determining the relative pose relationship between the receiving and transmitting end equipment and the surrounding environment.

Optionally, the ambient environment determination sub-module includes:

a distance value calculation unit for obtaining the matrix after modulus extraction

And by the following equation:

calculating the distance value corresponding to the k peak value

Wherein p is more than or equal to 0 and N is more than or equal to k_c-1，0<k<N_c-1，c₀Δ f is the interval between subcarriers in the OFDM signal, which is the propagation speed of light in air; matrix after taking mould

The element value of the element adjacent to the peak value is smaller than the peak value;

a relative distance value calculating unit for calculating the distance value corresponding to the kth peak

As a relative distance value between the transceiving end device and the kth object in the surrounding environment, wherein the object includes the receiving end device.

Optionally, the ambient environment determination sub-module includes:

a velocity value calculation unit for obtaining the matrix after modulus extractionAnd by the following equation:

calculating the speed value corresponding to the k-th peak value

wherein-N_sym/2+1≤q(k)≤N_sym/2，0<k<N_sym，c₀The propagation velocity of light in air, f_cIs the carrier frequency in the OFDM signal; t is_OFDMFor a period of one symbol in the OFDM signal, taking the matrix after modulusThe element value of the element adjacent to the peak value is smaller than the peak value;

a relative velocity value calculating unit that calculates a relative velocity value,for corresponding speed value of k-th peak

As the relative velocity value of the transceiving end device and the kth object in the surrounding environment, wherein the object comprises the receiving end device.

Optionally, the OFDM signal includes: a cyclic prefix duration;

a radar module, specifically configured to:

within the duration of the cyclic prefix, the radar module receives at least one reflected signal after the OFDM signal sent by the first communication module is reflected; and determining the relative pose relationship between the transceiving end equipment and the surrounding environment based on the at least one reflected signal and the OFDM signal.

Optionally, the first communication module is specifically configured to:

sending the OFDM signals to receiving end equipment and a radar module by adopting a pre-allocated frequency band;

or, sending the OFDM signal to receiving end equipment and a radar module by adopting a pre-allocated time slot;

or, sending the OFDM signal to receiving end equipment and a radar module by adopting a pre-allocated time slot and frequency band;

the second communication module is specifically configured to:

receiving the OFDM signal by adopting a frequency band which is the same as the frequency band pre-allocated to the first communication module, and acquiring communication information carried in the OFDM signal;

or, receiving the OFDM signal by using the same time slot as the time slot pre-allocated to the first communication module, and acquiring communication information carried in the OFDM signal;

or, receiving the OFDM signal by using the same time slot and frequency band as the time slot and frequency band pre-allocated to the first communication module, and acquiring the communication information carried in the OFDM signal.

Optionally, the radar module is configured to acquire the OFDM signal sent by the first communication module using the same time slot and/or frequency band as the first communication module.

Optionally, the first communication module is further configured to receive, by using a time slot and/or a frequency band different from that of the radar module, the OFDM signal sent by the second communication module of the receiving end device.

The cooperative working method and the cooperative working system of the radar and communication integrated system provided by the embodiment of the invention can be applied to a cooperative working system, and the cooperative working system comprises a receiving and transmitting terminal device and a receiving terminal device; be provided with radar and communication integration system on the equipment of receiving and dispatching end, radar and communication integration system include: the receiving end equipment is at least provided with a second communication module; the first communication module respectively sends the OFDM signals to receiving equipment and a radar module, the second communication module obtains communication information carried in the OFDM signals after receiving the OFDM signals sent by the first communication module, and the radar module receives at least one reflected signal of the OFDM signals sent by the first communication module after the OFDM signals are reflected by receiving end equipment; and determining the relative pose relationship between the transceiving end equipment and the surrounding environment based on the at least one reflected signal and the OFDM signal. Therefore, the receiving and transmitting end equipment can realize the communication with the receiving end and the determination of the relative position and posture relation between the receiving end equipment and the surrounding environment by only transmitting the OFDM signals, and does not need to adopt different phase coding modes for communication transmission and radar detection, so that the receiving and transmitting end equipment can transmit more OFDM signals, and the performance of the receiving and transmitting end equipment can be improved. Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a cooperative work system of an integrated radar and communication system according to an embodiment of the present invention;

fig. 2 is a flowchart of a first implementation manner of a cooperative work method of a radar and communication integrated system according to an embodiment of the present invention;

fig. 3 is a flowchart of a second implementation manner of a cooperative work method of a radar and communication integrated system according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of an application scenario of a cooperative working method of a radar and communication integrated system according to an embodiment of the present invention;

fig. 5 is a simulation diagram of a ranging result of a transceiving device in the application scenario shown in fig. 4;

fig. 6 is a simulation diagram of a speed measurement result of the transceiver device in the application scenario shown in fig. 4;

fig. 7 is a schematic structural diagram of a transceiving end device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to solve the problems in the prior art, embodiments of the present invention provide a cooperative working method of a radar and communication integrated system and a transceiver device, so as to improve the overall performance of a signal sent by a sending end.

Next, a description is first given of a cooperative work system of an integrated radar and communication system according to an embodiment of the present invention, as shown in fig. 1, which is a schematic structural diagram of a cooperative work system of an integrated radar and communication system according to an embodiment of the present invention, and the system may include a first node 110, a second node 130, and a third node 140, where a line 120 with an arrow represents a communication link between any two nodes of the three nodes.

Any one of the three nodes can be used as a transceiving end device, and the other two nodes can be used as receiving end devices. It is understood that the number of the receiving end devices may be 1, or may be greater than or equal to 2, and two receiving end devices are taken as an example for description herein.

Assuming that the first node 110 is a transceiving device, and the second node 130 and the third node 140 are receiving devices, the first node 110 may be provided with a radar and communication integrated system, which may include: a first radar module and a first communication module. The second node 130 and the third node 140 may be respectively provided with a second communication module, and may also be respectively provided with a second radar module.

The first communication module on the first node 110 described above may transmit the OFDM signal to the receiving devices, i.e., the second node 130 and the third node 140, respectively. In this way, the first node 110 may communicate with the second node 130 and the third node 140, respectively.

After receiving the OFDM signal, the second node 130 and the third node 140 may acquire the communication information carried in the OFDM signal.

The first communication module on the first node 110 also transmits the OFDM signal to the first radar module on the first node 110.

In some examples, since the first node 110 is in wireless communication with the second node 130 and the third node 140, the OFDM signal transmitted by the first communication module on the first node 110 may be transmitted to other objects around the first node 110 besides being received by the second node 130 and the third node 140, and may be reflected by surfaces of the other objects when the OFDM signal reaches the surfaces of the other objects. Thus, the radar module at the first node 110 may receive the reflected at least one reflected signal.

The first radar module may determine a relative pose relationship of the first node 110 to the surrounding environment based on the at least one reflected signal and the OFDM signal. Therefore, the receiving and transmitting end equipment can realize the communication with the receiving end and the determination of the surrounding environment of the position of the receiving end by only transmitting the OFDM signals, and does not need to adopt different phase coding modes for communication transmission and radar detection, so that the receiving and transmitting end equipment can transmit more OFDM signals to the receiving end equipment in one period, and the performance of the receiving and transmitting end equipment can be improved.

It can be understood that, because the transceiver end device herein has the communication module, and because of the radar module, the transceiver end device can both transmit signals and receive reflected signals of the transmitted signals after reflection.

Next, a method according to an embodiment of the present invention is described, as shown in fig. 2, which is a flowchart of a first implementation of a method for cooperative work integrating communication and radar according to an embodiment of the present invention, where the cooperative work method shown in fig. 2 may be applied to a cooperative work system, where the cooperative work system includes a transceiver device and a receiver device; the receiving and dispatching end equipment is provided with a radar and communication integrated system, and the radar and communication integrated system comprises: the receiving end equipment is at least provided with a second communication module; the method can comprise the following steps:

s210, the first communication module respectively sends the OFDM signals to a receiving device and a radar module;

s220, after receiving the OFDM signals sent by the first communication module, the second communication module acquires communication information carried in the OFDM signals, wherein at least one receiving end device is provided;

s230, the radar module receives at least one reflected signal after the OFDM signal sent by the first communication module is reflected; and determining the relative pose relationship between the transceiving end equipment and the receiving end equipment based on at least one reflection signal and the OFDM signal.

In some examples, a transceiving end device may transmit an OFDM signal to a receiving end device for communication with the receiving end device, and a first communication module of the transceiving end device may encode the OFDM signal and then transmit the encoded OFDM signal to the receiving end device.

In still other examples, since the transceiving end device is in wireless communication with the receiving end device, the transceiving end device may broadcast the OFDM signal in a broadcast manner, and the receiving end device may receive the broadcast OFDM signal to establish a communication connection with the transceiving end device.

In some examples, after receiving the OFDM signal sent by the first communication module, the receiving end device may perform decoding processing on the OFDM signal, so that communication information carried in the OFDM signal may be obtained.

In some examples, the OFDM signal transmitted by the transceiving end device may be reflected by the receiving end device in addition to being received by the receiving end device. After being reflected, the OFDM signal may be received by the radar module of the transceiving end device through line-of-sight propagation, and may also be received by the transceiving end device through non-line-of-sight propagation, so that the transceiving end device may receive at least one reflected signal.

After the transceiving end device receives at least one reflection signal, in order to determine the relative pose relationship between the transceiving end device and the surrounding environment, the communication module of the transceiving end device also sends an OFDM signal to the radar module, so that the radar module can determine the relative pose relationship between itself and the surrounding environment based on the OFDM signal sent by the first communication module of the transceiving end device and the at least one reflection signal.

In some examples, the ambient environment includes at least a receiving end device.

In some examples, the relative pose relationship may include a relative distance relationship and/or a relative velocity relationship.

In still other examples, when the above-mentioned receiving end device is provided with a radar and communication integrated system, the receiving end device may be used as a transceiving end device to determine the relative pose relationship between itself and other devices, for example, to determine the relative pose relationship between itself and the transceiving end device in the embodiment of the present invention. In this case, the transceiver device in the embodiment of the present invention may also be used as a receiver device.

The cooperative working method of the radar and communication integrated system provided by the embodiment of the invention can be applied to a cooperative working system, and the cooperative working system comprises a receiving and transmitting terminal device and a receiving terminal device; be provided with radar and communication integration system on the equipment of receiving and dispatching end, radar and communication integration system include: the receiving end equipment is at least provided with a second communication module; the first communication module respectively sends the OFDM signals to receiving equipment and a radar module, the second communication module obtains communication information carried in the OFDM signals after receiving the OFDM signals sent by the first communication module, and the radar module receives at least one reflected signal of the OFDM signals sent by the first communication module after the OFDM signals are reflected by receiving end equipment; and determining the relative pose relationship between the transceiving end equipment and the surrounding environment based on the at least one reflected signal and the OFDM signal. Therefore, the receiving and transmitting end equipment can realize the communication with the receiving end and the determination of the relative position and posture relation between the receiving end equipment and the surrounding environment by only transmitting the OFDM signals, and does not need to adopt different phase coding modes for communication transmission and radar detection, so that the receiving and transmitting end equipment can transmit more OFDM signals, and the performance of the receiving and transmitting end equipment can be improved.

On the basis of the cooperative work method shown in fig. 2, an embodiment of the present invention further provides a possible implementation manner, as shown in fig. 3, which is a flowchart of a second implementation manner of a cooperative work method of a radar and communication integrated system according to an embodiment of the present invention, where the method may include:

and S310, the first communication module respectively sends the OFDM signals to the receiving equipment and the radar module.

S320, after receiving the OFDM signals sent by the first communication module, the second communication module acquires communication information carried in the OFDM signals, wherein at least one receiving end device is provided;

s330, the radar module receives at least one reflected signal obtained by reflecting the OFDM signal sent by the first communication module, and determines a reflected signal matrix based on the at least one reflected signal;

s340, the radar module acquires the OFDM signals sent by the first communication module and determines an OFDM signal matrix based on the OFDM signals;

and S350, the radar module determines the relative pose relationship between the transceiving end equipment and the surrounding environment according to the reflected signal matrix and the OFDM signal matrix.

In some examples, when the OFDM signal transmitted by the first communication module is reflected, the OFDM signal may be received by the radar module of the transceiving end device through line-of-sight propagation and may also be received by the radar module of the transceiving end through non-line-of-sight propagation, and thus, the radar module may receive at least one reflected signal.

After the radar module receives the at least one reflected signal, a reflected signal matrix may be determined based on the at least one reflected signal. Wherein, the row in the reflection signal matrix represents the number of subcarriers in the reflection signal, and the column in the reflection signal matrix represents the number of signal symbols in the reflection signal.

In still other examples, the transceiver device may communicate with the receiving device in a frequency division duplex mode or a time division duplex mode, and may also communicate with the receiving device in a hybrid mode of frequency division duplex and time division duplex.

In some examples, a cyclic prefix duration may be provided in the OFDM signal; the radar module may receive at least one reflected signal obtained by reflecting the OFDM signal sent by the first communication module within the cyclic prefix duration; and determining the relative pose relationship between the transceiving end equipment and the surrounding environment based on the at least one reflected signal and the OFDM signal. Therefore, the time for determining the relative pose relationship between the transceiving end equipment and the surrounding environment does not need to be additionally set for the radar module, and the time can be saved.

In still other examples, when the transceiving end device and the receiving end device operate in the frequency division duplex mode, the transceiving end device and the receiving end device may respectively perform OFDM signal transmission according to a pre-allocated frequency band, and the transceiving end device may determine a relative pose relationship with the receiving end device based on the OFDM signal and a reflected signal reflected by the receiving end device;

for example, the first communication module transmits the OFDM signal to the receiving end device and the radar module by using the pre-allocated frequency band;

the second communication module in the receiving end device may receive the OFDM signal using a frequency band that is the same as a frequency band pre-allocated to the first communication module, and acquire communication information carried in the OFDM signal.

When the receiving and transmitting end equipment and the receiving end equipment work in a time division duplex mode, the receiving and transmitting end equipment and the receiving end equipment can carry out OFDM signal transmission according to pre-allocated time slots;

for example, the first communication module may transmit the OFDM signal to the receiving end device and the radar module using a pre-allocated time slot;

the second communication module in the receiving end device may receive the OFDM signal using the same time slot as the time slot pre-allocated to the first communication module, and acquire the communication information carried in the OFDM signal;

when the transceiving end device and the receiving end device work in a mixed mode, the transceiving end device and the receiving end device can respectively transmit the OFDM signals according to the pre-allocated time slot and frequency band.

For example, the first communication module transmits the OFDM signal to the receiving end device and the radar module by using a pre-allocated time slot and frequency band;

and the second communication module receives the OFDM signal by adopting the time slot and the frequency band which are the same as the time slot and the frequency band pre-allocated to the first communication module, and acquires the communication information carried in the OFDM signal.

It can be understood that the radar module of the transceiver device does not need to perform complex time and frequency synchronization on the reflected signal, and only the time and frequency synchronization between the radar module and the communication module can be ensured. That is, the radar module may acquire the OFDM signal transmitted by the first communication module using the same time slot and/or frequency band as the first communication module.

In still other examples, the second communication module of the receiving end device may further transmit an OFDM signal to the transceiving end device, in which case, the first communication module receives the OFDM signal transmitted by the second communication module of the receiving end device by using a different time slot and/or frequency band from that of the radar module.

That is, the first communication module may receive the OFDM signal transmitted by the second communication module of the receiving end device in a different time slot and/or frequency band from the radar module.

The first communication module may send the OFDM signal to the radar module, and after receiving the OFDM signal sent by the first communication module, the radar module may determine the OFDM signal matrix of the OFDM signal based on the OFDM signal. Wherein, the row in the OFDM signal matrix represents the number of sub-carriers in the OFDM signal, and the column in the OFDM signal matrix represents the number of signal symbols in the OFDM signal.

After the radar module determines the reflection signal matrix and the OFDM signal matrix, the relative pose relationship between the transceiver device and the receiving device can be determined according to the reflection signal matrix and the OFDM signal matrix.

In some examples, the radar module may determine the relative pose relationship of the transceiver end device with the surrounding environment by:

step A1, according to the reflection signal matrix D_Rx(m, n) and OFDM signal matrix D_Tx(m, n) by the formula:

H(m,n)＝D_Tx(m,n)^-1(D_Rx(m,n)-W(m,n))

calculating an environment matrix H (m, n) of the relative pose relationship between the transceiving end equipment and the surrounding environment; where m is the number of subcarriers in the OFDM signal, n is the number of symbols in the OFDM signal, and W (m, n) represents superimposed white gaussian noise.

In some examples, the OFDM signal may receive interference to different degrees during spatial propagation, and therefore, to improve the accuracy of the calculation, the received interference may be taken into account when determining the relative pose relationship, for example, the interference of white gaussian noise on the OFDM signal may be taken into account when determining the relative pose relationship. Therefore, the gaussian white noise can be subtracted from the reflection signal matrix to obtain a reflection signal matrix from which the gaussian white noise is subtracted, and then the reflection signal matrix and an inverse matrix of the OFDM signal matrix are calculated, so that an environment matrix of the relative pose relationship between the transceiver device and the receiver device can be obtained.

Step a2, by the following formula:

performing discrete Fourier transform and inverse discrete Fourier transform on the environment matrix H (m, n) to obtain a transformed environment matrix

Wherein, in the environment matrix

The element value of the p-th row and q-th column element is0≤p≤N_c-1，-N_sym/2+1≤q≤N_sym/2，N_cIs the number of sub-carriers, N, of an OFDM signal_symThe number of the symbols in the OFDM signal transmitted in the preset time is the number of the symbols in the OFDM signal transmitted in the preset time;

step A3, transforming the environment matrix

Each element in the matrix is subjected to modulus extraction to obtain a matrix after modulus extraction

Step A4, based on the matrix after modulus extractionAnd determining the relative pose relationship between the receiving and transmitting end equipment and the surrounding environment.

In some examples, the radar module may perform discrete fourier transform on the environment matrix to obtain a first transformed environment matrix, and then perform the first transformation on the first transformed environment matrix, so as to determine the relative pose relationship between the transceiver device and the surrounding environment based on the environment matrixPerforming inverse discrete Fourier transform on the transformed environment matrix to obtain a second transformed environment matrix, namely the transformed environment matrix

In some examples, the environment matrix described above

In the range of 0 to N_c-1 represents the environment matrix

Each row of (i.e. the environment matrix)

Line 1 of (1), the environment matrixLast action of (2)_c-1 row; by using-N_sym/2+1～N_sym/2 represents the environment matrix

Each column of (i.e., the environment matrix)

Column 1 of_symColumn/2 +1, the environment matrix

Last column of (1) is the Nth column_symColumn/2.

After obtaining the transformed environment matrix, the radar module may perform modulo operation on each element in the transformed environment matrix, so as to obtain a modulo matrix, and then may be based on the modulo matrixDetermining transceiver-side equipment and surroundingsAnd (5) relative pose relation.

In still other examples, the relative pose relationship may include at least: relative distance and/or relative speed.

In some examples, the relative distance of the transceiving end device from the surrounding environment may be determined by:

b1, obtaining the matrix after modulus extractionAnd by the following equation:

calculating the distance value corresponding to the k peak valueWherein p is more than or equal to 0 and N is more than or equal to k_c-1，0<k<N_c-1，c₀Δ f is the interval between subcarriers in the OFDM signal, which is the propagation speed of light in air; matrix after taking mould

The element value of the element adjacent to the peak is smaller than the peak.

In some examples, the matrix after the modulus is takenWhen there is one element value larger than the other element values adjacent to the element value, the element value is a peak value. The radar module may obtain the number p (k) of rows where the element value is located, and calculate the relative distance value corresponding to the element value by using the formula in step B1.

In some examples, there may be one peak or multiple peaks in the modulo matrix, and the multiple peaks may be the same or different in size.

B2, matching the distance value corresponding to the k peak value

As a relative distance value of the kth object in the environment around the transceiving end device, wherein the object includes the receiving end device.

In some examples, the radar module may indicate that there is only one object around the transceiving end device after obtaining the distance value corresponding to one peak, and may indicate that there are multiple objects around the transceiving end device after obtaining the distance values corresponding to multiple peaks. The radar module may compare the distance value corresponding to the kth peak valueAs the relative distance value between the transceiving end device and the k < th > object in the surrounding environment.

In still other examples, when the transceiver end device is stationary, the relative distance value between the transceiver end device and the kth object in the surrounding environment may be an actual distance value between the transceiver end device and the kth object.

In some examples, the relative speed of the transceiving end device with the surrounding environment may be determined by:

c1, obtaining matrix after modulus taking

And by the following equation:

calculating the speed value corresponding to the k-th peak valuewherein-N_sym/2+1≤q(k)≤N_sym/2，0<k<N_sym，c₀The propagation velocity of light in air, f_cIs the carrier frequency in the OFDM signal; t is_OFDMModulo for a period of one symbol in an OFDM signalMatrix arrayThe element value of the element adjacent to the peak value is smaller than the peak value;

in some examples, the matrix after the modulus is taken

When there is one element value larger than the other element values adjacent to the element value, the element value is a peak value. The radar module may obtain the column number q (k) where the element value is located, and calculate a relative velocity value corresponding to the element value by using the formula in step C1.

C2, corresponding speed value of the k peak valueAs the relative velocity value of the transceiving end device and the kth object in the surrounding environment, wherein the object comprises the receiving end device.

In some examples, the radar module may be configured to obtain a velocity value corresponding to one peak, and then may indicate that there is only one object around the transceiving end device. The radar module may compare the velocity value corresponding to the kth peak value

As the relative velocity value of the transceiving end device and the kth object in the surrounding environment.

In still other examples, when the transceiving end device is stationary, the relative velocity value of the transceiving end device and the kth object may be an actual velocity value of the kth object.

Since the element values in the modulo matrix will affect the calculation accuracy due to the influence of the surrounding environment of the transceiving equipment. The embodiment of the invention is used for calculating the relative pose relationship between the receiving and transmitting end equipment and the receiving end equipment, and can avoid calculating by adopting the element values in the matrix after modulus extraction, thereby improving the accuracy of determining the relative pose relationship.

In some other examples, after determining the relative pose relationship between the transceiver and the surrounding environment, the radar module may further count the matrix after the modulus is taken

The number of medium peaks, and then the number of objects in the environment around the location of the transceiving end device can be determined based on the number of peaks.

For more clearly explaining the embodiment of the present invention, the description is given with reference to fig. 4, and as shown in fig. 4, the description is a schematic structural diagram of an application scenario of a cooperative working method of a radar and communication integrated system according to the embodiment of the present invention; in fig. 4, an a car 410 and a B car 420 may be included, wherein the a car 410 may be a transceiving end device and the B car 420 may be a receiving end device. This A car 410 can be provided with radar and communication integration system in, and radar and communication integration system includes: a radar module and a communication module.

The communication module in the a car 410 transmits the OFDM signal to the B car 420 and the radar module in the a car, respectively, so that the B car 420 communicates with the a car 410 based on the OFDM signal.

In some examples, the OFDM signal transmitted by the communication module in the a car 410 may propagate spatially to the B car 420, and may be received by the communication module in the B car. After receiving the OFDM signal, the B car 420 may decode the OFDM signal, so that the information transmitted by the a car 410 to the B car 420 may be acquired.

The OFDM signal arriving at the B car 420 and other objects around the a car 410 may reflect off of it, and return to the a car 410 again after propagating through space, so that at least one reflected signal may be received by the radar module in the a car 410.

After receiving the OFDM signal and the at least one reflection signal, the radar module in the a car 410 may determine a reflection signal matrix based on the at least one reflection signal and determine the OFDM signal based on the OFDM signalA matrix of numbers. Then, an environment matrix H (m, n) of the relative pose relationship between the automobile A410 and the automobile B420 is calculated through the formula in the step A1, the environment matrix H (m, n) is transformed through the formula in the step A2, and finally, each element in the transformed matrix is subjected to modulus extraction, so that the matrix subjected to modulus extraction can be obtained

After obtaining the matrix after modulus

Then, the radar module in the a car 410 may determine the distance between itself and the B car 420 by using the steps B1 to B2, and may determine the relative speed between itself and the B car 420 by using the steps C1 to C2.

The relative distance between the a car 410 and the B car 420 can be determined as shown in fig. 5, and in fig. 5, the value with the highest radar image intensity can be the above-mentioned modulo matrix

The relative distance corresponding to the peak value is 50m, and the relative distance between the a car and the B car is 50 m.

The relative velocity between the a car 410 and the B car 420 determined by the above description may be the relative velocity shown in fig. 6, and in fig. 6, the value with the highest radar image intensity may be the above-mentioned modulo matrixThe relative speed corresponding to the peak value is 15m/s, and then the relative speed between the A automobile and the B automobile is 15 m/s.

It can be understood that, since there may be a forward motion or a backward motion between the transceiving end device and the object in the surrounding environment, the relative speed between the transceiving end device and the object in the surrounding environment may be a positive value or a negative value, for example, if the relative speed between the transceiving end device and the object in the surrounding environment is a positive value when the transceiving end device and the object in the surrounding environment move in the opposite direction, the relative speed between the transceiving end device and the object in the surrounding environment when the transceiving end device moves in the backward direction is a negative value.

In still other examples, since there may be an interference signal in the reflection signal received by the transceiving end device, in fig. 5 and 6, when the relative distance is 50m and the relative speed is 15m, there may be a range of radar image intensity, which may reflect the intensity of the interference signal in the reflection signal received by the transceiving end device, and in fig. 5 and 6, the intensity of the interference signal may reach 40 dB.

Corresponding to the above method embodiment, an embodiment of the present invention further provides a cooperative work system of a radar and communication integrated system, as shown in fig. 1, which is a schematic structural diagram of a cooperative work system of a radar and communication integrated system according to an embodiment of the present invention, and the cooperative work system may include a transceiver device and a receiver device; the transceiving end device may be any one of three nodes in the system shown in fig. 1, and the receiving end device may be the other two nodes in the system shown in fig. 1.

As shown in fig. 7, which is a schematic structural diagram of a transceiving end device according to an embodiment of the present invention, the transceiving end device is provided with an integrated radar and communication system, where the integrated radar and communication system includes: the radar module 710 and the first communication module 720, at least a second communication module is arranged on the receiving end equipment;

a first communication module 720, configured to send the OFDM signal to the receiving end device and the radar module 710, respectively;

the second communication module is configured to obtain communication information carried in the OFDM signal after receiving the OFDM signal sent by the first communication module 720, where at least one receiving end device is provided;

a radar module 710, configured to receive at least one reflected signal obtained by reflecting the OFDM signal sent by the first communication module 720; and determining the relative pose relationship between the transceiving end device and the surrounding environment based on the at least one reflected signal and the OFDM signal, wherein the surrounding environment at least comprises the receiving end device.

The cooperative work system of the radar and communication integrated system provided by the embodiment of the invention can comprise a transceiving terminal device and a receiving terminal device; be provided with radar and communication integration system on the equipment of receiving and dispatching end, radar and communication integration system include: the receiving end equipment is at least provided with a second communication module; the first communication module respectively sends the OFDM signals to receiving equipment and a radar module, the second communication module obtains communication information carried in the OFDM signals after receiving the OFDM signals sent by the first communication module, and the radar module receives at least one reflected signal of the OFDM signals sent by the first communication module after the OFDM signals are reflected by receiving end equipment; and determining the relative pose relationship between the transceiving end equipment and the surrounding environment based on the at least one reflected signal and the OFDM signal. Therefore, the receiving and transmitting end equipment can realize the communication with the receiving end and the determination of the relative position and posture relation between the receiving end equipment and the surrounding environment by only transmitting the OFDM signals, and does not need to adopt different phase coding modes for communication transmission and radar detection, so that the receiving and transmitting end equipment can transmit more OFDM signals, and the performance of the receiving and transmitting end equipment can be improved.

In some examples, the radar module 710 is specifically configured to receive at least one reflected signal obtained by reflecting the OFDM signal sent by the first communication module 720, and determine a reflected signal matrix based on the at least one reflected signal;

the radar module 710 is further configured to obtain an OFDM signal sent by the first communication module 720, and determine an OFDM signal matrix based on the OFDM signal;

and the radar module 710 is further configured to determine a relative pose relationship between the transceiver end device and the surrounding environment according to the reflected signal matrix and the OFDM signal matrix.

In some examples, radar module 710, includes:

an environment matrix calculation submodule for calculating a matrix D based on the reflected signals_Rx(m, n) and OFDM signal matrix D_Tx(m, n) by the formula:

H(m,n)＝D_Tx(m,n)^-1(D_Rx(m,n)-W(m,n))

calculating an environment matrix H (m, n) of the relative pose relationship between the transceiving end equipment and the surrounding environment; wherein m is the number of subcarriers in the OFDM signal, n is the number of symbols in the OFDM signal, and W (m, n) represents superimposed white gaussian noise;

a matrix transformation submodule for transforming the data by the following equation:

performing discrete Fourier transform and inverse discrete Fourier transform on the environment matrix H (m, n) to obtain a transformed environment matrix

Wherein, in the environment matrix

The element value of the p-th row and q-th column element is

0≤p≤N_c-1，-N_sym/2+1≤q≤N_sym/2，N_cIs the number of sub-carriers, N, of an OFDM signal_symThe number of the symbols in the OFDM signal transmitted in the preset time is the number of the symbols in the OFDM signal transmitted in the preset time;

a modulus-taking submodule for taking the transformed environment matrix

Each element in the matrix is subjected to modulus extraction to obtain a matrix after modulus extraction

An ambient determination submodule for determining a matrix based on the modulo matrix

And determining the relative pose relationship between the receiving and transmitting end equipment and the surrounding environment.

In some examples, the ambient environment determination submodule includes:

a distance value calculation unit for obtaining the matrix after modulus extraction

And by the following equation:

calculating the distance value corresponding to the k peak value

Wherein p is more than or equal to 0 and N is more than or equal to k_c-1，0<k<N_c-1，c₀Δ f is the interval between subcarriers in the OFDM signal, which is the propagation speed of light in air; matrix after taking mould

The element value of the element adjacent to the peak value is smaller than the peak value;

a relative distance value calculating unit for calculating the distance value corresponding to the kth peak

As a relative distance value between the transceiving end device and the kth object in the surrounding environment, wherein the object includes the receiving end device.

In some examples, the ambient environment determination submodule includes:

a velocity value calculation unit for obtaining the matrix after modulus extraction

And by the following equation:

calculating the speed value corresponding to the k-th peak value

wherein-N_sym/2+1≤q(k)≤N_sym/2，0<k<N_sym，c₀The propagation velocity of light in air, f_cIs the carrier frequency in the OFDM signal; t is_OFDMFor a period of one symbol in the OFDM signal, taking the matrix after modulus

The element value of the element adjacent to the peak value is smaller than the peak value;

a relative velocity value calculating unit for calculating the velocity value corresponding to the k-th peak

As the relative velocity value of the transceiving end device and the kth object in the surrounding environment, wherein the object comprises the receiving end device.

In some examples, the OFDM signal includes: a cyclic prefix duration;

in some examples, radar module 710 is specifically configured to:

within the cyclic prefix duration, the radar module 710 receives at least one reflected signal after the OFDM signal sent by the first communication module 720 is reflected; and determining the relative pose relationship between the transceiving end equipment and the surrounding environment based on the at least one reflected signal and the OFDM signal.

Optionally, the first communication module 720 is specifically configured to:

sending the OFDM signal to the receiving end device and the radar module 710 using a pre-allocated frequency band;

or, the OFDM signal is sent to the receiving end device and the radar module 710 by using a pre-allocated time slot;

or, the OFDM signal is sent to the receiving end device and the radar module 710 by using a pre-allocated time slot and frequency band;

the second communication module is specifically configured to:

receiving the OFDM signal using a frequency band that is the same as a frequency band pre-allocated to the first communication module 720, and acquiring communication information carried in the OFDM signal;

or, receiving the OFDM signal using the same time slot as the time slot pre-allocated to the first communication module 720, and acquiring the communication information carried in the OFDM signal;

or, the OFDM signal is received by using the same time slot and frequency band as the time slot and frequency band pre-allocated to the first communication module 720, and the communication information carried in the OFDM signal is acquired.

In some examples, the radar module 710 is configured to acquire the OFDM signal transmitted by the first communication module 720 using the same time slot and/or frequency band as the first communication module 720.

Optionally, the first communication module 720 is further configured to receive the OFDM signal sent by the second communication module of the receiving end device by using a time slot and/or a frequency band different from that of the radar module 710.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.